Title :
Dynamics of parallel mechanism with direct compliance control
Author :
Rong, Liu ; Guanghua, Zong
Author_Institution :
Robotics Res. Inst., Beijing Univ. of Aeronaut. & Astronaut., China
Abstract :
Direct compliance control is an effective force control method for robot, especially for parallel mechanism robot. However, structural complexity of parallel mechanism and redundant actuation of the DCC requires make establishment of a dynamic model for robot control very difficult. In this paper, based on influence coefficient method, the dynamics of a parallel mechanism is deeply studied. The parallel mechanism without DCC is first investigated. Then is mechanism with DCC. The derived dynamic equations for both situations are not only easily established, but also simply expressed with mechanism´s influence coefficient matrices. Therefore the dynamic algorithm can be easily realized on computer
Keywords :
compliance control; manipulator dynamics; matrix algebra; redundancy; direct compliance control; dynamic algorithm; force control; influence coefficient matrices; parallel mechanism dynamics; redundant actuation; structural complexity; Aerodynamics; Concurrent computing; Equations; Force control; Heuristic algorithms; Kinematics; Parallel robots; Robot control; Testing; Weight control;
Conference_Titel :
Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-4053-1
DOI :
10.1109/ICSMC.1997.638277
